{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T13:03:32Z","timestamp":1778591012741,"version":"3.51.4"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2018,8,1]],"date-time":"2018-08-01T00:00:00Z","timestamp":1533081600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"EU Project RoboCom++","award":["FLAG-ERA JTC 2016"],"award-info":[{"award-number":["FLAG-ERA JTC 2016"]}]},{"name":"European Research Council (ERC) through the Actanthrope Project","award":["ERC-ADG 340050"],"award-info":[{"award-number":["ERC-ADG 340050"]}]},{"name":"French National Research Agency Project Loco3D","award":["16-CE33-0003"],"award-info":[{"award-number":["16-CE33-0003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2018,8]]},"DOI":"10.1109\/tro.2018.2820687","type":"journal-article","created":{"date-parts":[[2018,6,14]],"date-time":"2018-06-14T22:59:54Z","timestamp":1529017194000},"page":"1021-1034","source":"Crossref","is-referenced-by-count":25,"title":["Zero Step Capturability for Legged Robots in Multicontact"],"prefix":"10.1109","volume":"34","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1275-2851","authenticated-orcid":false,"given":"Andrea","family":"Del Prete","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3001-8693","authenticated-orcid":false,"given":"Steve","family":"Tonneau","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8090-0601","authenticated-orcid":false,"given":"Nicolas","family":"Mansard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref38","first-page":"2","article-title":"Standard errors of mean, variance, and standard deviation estimators","author":"ahn","year":"2003"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363555"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363423"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650793"},{"key":"ref30","first-page":"3157","article-title":"Ground reaction force control at each foot: A momentum-based\n humanoid balance controller for non-level and non-stationary ground","author":"goswami","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2738321"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.805688"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6048045"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2655560"},{"key":"ref10","first-page":"3943","article-title":"Momentum-based reactive stepping controller on level and non-level ground for humanoid robot\n push recovery","author":"yun","year":"0","journal-title":"Proc IEEE Int Conf Intell Robots Syst"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363461"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2405592"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363533"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843611002496"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-26415-9_49"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282153"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152755"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399327"},{"key":"ref19","first-page":"4837","article-title":"Whole-body trajectory optimization for humanoid falling","author":"wang","year":"0","journal-title":"Proc Amer Control Conf"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s00332-016-9353-2"},{"key":"ref4","article-title":"On the stability of walking systems","author":"wieber","year":"0","journal-title":"Proc Int Workshop Humanoid Human Friendly Robotics"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041632"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321385"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487299"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.031"},{"key":"ref5","article-title":"Modeling and Control of Legged Robots","author":"wieber","year":"2015","journal-title":"Springer Handbook of Robotics"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696949"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094874"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452762"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651022"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452673"},{"key":"ref20","first-page":"2761","article-title":"Multiple contact planning for minimizing damage of humanoid falls","author":"ha","year":"0","journal-title":"Proc IEEE Int Conf Intell Robots Syst"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2001360"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206246"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-61576-8_77"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2012.6651622"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041440"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8437110\/08383993.pdf?arnumber=8383993","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:16:10Z","timestamp":1642004170000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8383993\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,8]]},"references-count":38,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2018.2820687","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,8]]}}}